JPS6134769B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to mobile agricultural machines such as combine harvesters and agricultural tractors, and improves work efficiency by automating various machine operations on headlands after one stroke of traveling work is completed. The aim is to improve the system or develop it into an unmanned system.

Embodiments of the present invention will be described below based on illustrative drawings.

FIG. 1 is a schematic plan view showing the front and traveling parts of a combine harvester as an example of the mobile agricultural machine of the present invention, in which 1... is a pulling device, 2 is a reaping device, 3 is a
is the traveling transmission case, 4, 4' is the left and right crawler, 5, 5'... is the steering clutch brake,
Reference numerals 6 and 6' designate hydraulic cylinders for operating the steering clutch brake, 7 a lever for switching forward and backward travel, 8 a hydraulic cylinder for switching forward and backward travel, and 9 an electromagnetic main clutch. Further, numerals 10 and 11 are solenoid valves for controlling the respective hydraulic cylinders 6, 6', and 8, respectively.

The main clutch 9 and the electromagnetic valves 10, 11 are configured to be automatically digitally controlled when one stroke of forward mowing travel is completed, and an outline thereof is shown in FIG.

In Fig. 2, 12 is a sensor that detects the end of one stroke of reaping travel as contact release with the uncut planted stem culm, and 13 is a sensor that detects the end of one stroke of reaping travel. ), 14 is an encoder for digitally presetting the operation time of the control part included in each mode, 15 is an appropriate axis of the mission case 3 (for example, input axis) 16 a resettable counter connected to the pulse generator 15 encoder 14; 17 a differentiator; 18
19 is a shift register for sequentially switching each control part each time the output from the differentiator 17 is generated;
20 is the drive circuit for the main clutch 9, and 20 is the solenoid valve 1.
0 is a right turning drive circuit, 21 is a left turning drive circuit, 22 is a reverse driving circuit for the solenoid valve 11, and 23 is a forward driving circuit.

Next, automatic steering control after one stroke of reaping travel is completed will be explained.

In this case, the left side of the aircraft is the uncut side, and the autopilot control part is set as follows.

(a) Forward (b) Stop (c) Turn 90 degrees to the left (d) Turn 45 degrees to the left (e) Turn 45 degrees to the right (f) Go backwards The following modes can be created by aligning each part above. It is set.

Forward (a) → Stop (b) Forward (a) → Forward, turn 90 degrees to the left (a) (c) → Stop (b) Forward (a) → Forward, turn 90 degrees to the left (a) (c) → Forward (a) ) Forward (a) → Forward Turn 90 degrees to the left (a) (c) → Forward (a) → Stop
(b) Forward (a) → Forward, turning 45 degrees to the left (a) (d) → Backward (f) → Backward, turning 45 degrees to the right (e) (f) → Stop (b) Therefore, among the above modes ~ By selecting and setting one of these in advance with the mode selector 13, when one stroke of mowing is completed and the sensor 12 is removed from the uncut, planted stem culm, headland automatic piloting is performed in the selected mode. is carried out.

For example, when the mode is set, the counter 16 starts counting the forward part from the time when one stroke of mowing is detected by the sensor 12, and the clock pulses of the count number set by the encoder 14 are counted. counter 16
The output of differentiator 1 changes (falling or rising).
An output pulse is emitted from 7, which activates the shift register 18 to drive the left turn drive circuit 21.
is activated, and the aircraft begins a forward turn to the left.
Further, the counter 16 is reset by the output from the differentiator 17, and the encoder 14 sets the set count number for the next maneuver part (45 degrees left turn) to the counter 16 by the output from the shift register 18. After a predetermined number of counts, the shift register 18 operates again, and the forward drive circuit 23
At the same time, the left-turn drive circuit 21 is deactivated, and the reverse drive circuit 22 is activated, so that reverse movement starts. Thereafter, each time the shift register 18 is operated, the count number set for each maneuver part by the encoder 14 is commanded to the counter 16, and the subsequent maneuver parts in mode 5 are sequentially executed.

Incidentally, by adjusting the count number of each control part in the encoder 14, it is possible to arbitrarily change and adjust the forward and backward straight travel distance and the turning angle in advance.

Further, in the embodiment, the clock pulses are obtained by the pulse generator 15 interlocked with the constant speed rotating shaft of the mission case 3, but it goes without saying that the clock pulses may be obtained by a pure electric circuit.

Alternatively, for simplicity, switching to headland autopilot may be performed manually.

As described in detail in the embodiments above, the mobile agricultural machine of the present invention has a mechanism that switches headland driving to a preset automatic operation state after completing one stroke of work driving;
It is equipped with a mechanism that artificially selects and sets the form of the autopilot state to one of a plurality of preset forms, and the plurality of preset control forms are forward, reverse, and right turn. It is a combination of all or any of the control parts of turning to the left and stopping, and is characterized in that the forward and backward movement distance and the turning angle are adjustable, so it has the following effects. In other words, all you have to do is select one of the multiple maneuvering modes that are preset by combining each maneuvering part in consideration of differences in work conditions and field conditions, etc., depending on the actual situation at the time. It is possible to automatically control the aircraft in an appropriate manner on the headland after completing a work trip, and the forward and backward travel distance and turning angle can also be adjusted in advance, allowing for more appropriate aircraft control and easier boarding. This allows the worker to concentrate on operating the work equipment on the headland without being distracted by the operation, thereby improving work efficiency. It has also become easier to develop unmanned operations.

[Brief explanation of the drawing]

The drawings show an embodiment of a mobile agricultural machine according to the present invention,
FIG. 1 is a schematic plan view of the combine harvester, and FIG. 2 is a block diagram of the control mechanism.

Claims (1)

[Scope of Claims] 1. A mechanism for switching headland running to a preset autopilot state after completing one stroke of work running;
It is equipped with a mechanism that artificially selects and sets the form of the autopilot state to one of a plurality of preset forms, and the plurality of preset control forms are forward, reverse, and right turn. A mobile agricultural machine that combines all or any of the control parts of turning left and stopping, and is characterized in that its forward and backward travel distance and turning angle are adjustable. 2. The mobile agricultural machine according to claim 1, wherein the mobile agricultural machine is configured such that switching to the automatic operation state in the headland is automatically performed by detecting the end of one stroke of work travel. 3. The mobile agricultural machine according to claim 1 or 2, wherein switching of control parts in each type of automatic pilot is digitally controlled.